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卡尔曼滤波器被广泛应用于目标位置预测领域,但由于算法复杂、计算量大,采用软件实现难以满足现代跟踪系统的实时性要求,本文介绍了卡尔曼(Kalman)算法的理论推导,提出了一种基于FPGA的可重配置实时卡尔曼滤波器硬件结构,在Simulink中的DSP Builder实现卡尔曼滤波器,最后在FPGA中实现。 相似文献
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针对目标跟踪中的突变问题,本文提出一种基于改进卡尔曼预测的camshift(continuously adaptivemean shift)跟踪算法.本算法首先使用一种新的目标颜色模型,对传统目标模型进行改进,提高了目标跟踪的准确性和稳定性;同时为了更有效的预测目标位置,对卡尔曼滤波的一步预测值进行改进,并将修改后的卡尔曼预测算法融入camshift算法中,跟踪中增加采样率.实验表明,与传统camshift算法相比,该算法能够处理目标运动中发生突变的情况,实现对运动目标高精度的跟踪. 相似文献
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目标跟踪中的一个核心部分就是滤波算法。经典的卡尔曼滤波算法对于具有高斯分布噪声的线性系统,可得系统状态的最小均方差估计,α-β-γ滤波器比卡尔曼滤波器计算量小且易于实现。基于贝叶斯滤波的目标跟踪原理,在线性高斯环境下对比分析了标准卡尔曼滤波器和α-β-γ滤波器的估计精度,并给出两种方法的适用条件。介绍了标准卡尔曼滤波器和α-β-γ滤波器的原理及算法实现,分别对匀速直线运动和匀加速直线运动的目标进行跟踪仿真分析。仿真表明,在高斯背景环境下,卡尔曼滤波器、α-β滤波器和α-β-γ滤波器都具有很好的跟踪精度和很强的实时性。 相似文献
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本文对基于压缩感知的压缩域目标跟踪算法进行了研究,为满足特定的应用场合要求,针对原算法的不足进行了改进,同时基于小型化低成本目标位置探测器设计思想及需求,设计并实现了以TMS320DM6437数字信号处理器为核心的实时图像跟踪处理平台,对算法在该DSP平台进行了实现与优化。仿真和实验结果表明,经过结合卡尔曼滤波器、融合LBP特征以及添加自适应学习速率更新策略等措施,算法的鲁棒性得到提高;对算法在DSP中的实现,经过一系列优化措施,对分辨率为960×960的视频图像,当取目标窗口为80×80时,处理速度可达25 f/s,能够满足实时性跟踪要求。系统能够对选定的运动目标进行连续、稳定地跟踪,能够满足特定应用场合下的目标位置探测与跟踪需求,具有一定的实用性,同时也对该类目标跟踪方法在嵌入式平台的研究与应用具有一定的参考价值。 相似文献
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基于共轭梯度法的快速Mean Shift图像分割 总被引:3,自引:1,他引:2
针对均值漂移算法收敛速度较慢的问题,本文出了基于共轭梯度的快速均值漂移算法,并将其用于图像分割.该算法利用共轭梯度法简便,存储需求小,收敛速度介于最速下降法和牛顿法之间, 具有较好的全局收敛性和较快的收敛速度的特点,通过交替执行均值漂移算法和共轭梯度算法提高经典均值漂移算法的收敛速度.对合成图像和真实图像的实验结果表明了新算法不但提高了经典均值漂移算法的速度,而且在进行图像分割时保持了良好的分割结果. 相似文献
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基于演化非对称核函数的均值漂移跟踪算法 总被引:1,自引:1,他引:0
针对传统均值漂移跟踪算法中采用的对称核函数模板中包含了较多背景像素点,影响跟踪精确度和稳定性的缺点,在固定非对称核函数的基础上对均值漂移跟踪算法进行了改进,提出了一种基于演化非对称核函数的均值漂移目标跟踪算法。本文算法首先介绍了将非对称核函数模板引用到均值漂移算法框架的关键问题——模板中心——的计算方法;其次将非对称核函数模板的表述和演化有机结合,提出了利用区域相似度的目标轮廓水平集演化算法并阐述了非对称核函数模板的更新策略。实验结果表明,相比现有的方法,本文提出的基于演化非对称核函数模板均值漂移跟踪算法具有更高的准确性和可靠性,同时也能满足一般目标跟踪任务的实时性要求。 相似文献
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Tracking and following a moving target in real time is a very challenging task in autonomous mobile robot applications, due to the unstructured and unknown environment. In this article, a real time, autonomous, dynamic, whole-field target tracking system (360° coverage) is developed based on a pan/tilt/zoom CCD vision system. The vision system scans and locks the pose of the moving target and commands the tracking mobile robot to follow the target while avoiding obstacles. Bayes’ theorem-based foreground–background segmentation algorithm is applied for motion detection. The color-based particle filter algorithm is used to track the moving object. The system steers the tracking mobile robot toward the moving target based on the angular difference obtained from the tracking module. Fuzzy logic is applied and a sensor data fusion algorithm is developed to reduce the ultrasonic phantom effect of obstacle detection using eight ultrasonic sensors. Multiple behaviors are integrated through the proposed system. Experimental results show the proposed system can successfully track and follow a moving target and avoid obstacles in real time. The tracking accuracy is higher than 80%. 相似文献
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目的针对我国食品生产和包装存在的效率低、分拣精度不高等问题,基于并联机器人设计一种包装分拣控制系统。方法根据机器人自动分拣系统的结构,采用一种基于时间和工件位置的图像去重复算法,以去掉重复信息。为了提高抓取精度,基于PID算法设计一种位置跟踪控制器,能够判断物体位置并实时调整并联机器人末端执行器,以实现目标物体的动态跟踪和抓取。结合工业控制机和运动控制卡搭建控制系统,并进行实验研究。结果实验过程中最快分拣速度可达到120次/min,漏抓率为0,误抓率小于0.2%。结论所述控制系统具有较高的稳定性和准确性,可满足实时性要求。 相似文献
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Animals rotate their eyes to gaze at the target prey, enhancing the ability of measuring the distance to the target precisely for catching it. These animals, visual tracking includes the triangular eye-vergence control and their body's motion control by visual servoing. The research aims to realize a bionic robot tracking performance, in which the body links moves together with eyes' view orientation. This paper proposed a hand & eye-vergence dual control system which included two feedback loops: an outer loop for conventional visual servoing to direct a manipulator toward a target object and an inner loop for active motion control of binocular cameras to change the viewpoint along with the moving object to give an accurate and broad observation. This research also foused on how to compensate a fictional motion of the target seen by camera images in an eye-in-hand system, where the camera was fixed on the end-effector and moved together with the hand motion. A robust motion-feedforward (MFF) recognition method is proposed to compensate the fictional motion of the target based on the manipulator's joint velocity, then the real motion of the target seen by camera images is extracted, which can improve the feedback image sensing unit to make the whole servoing system dynamically stable. The effectiveness of the proposed hand & eye-vergence visual servoing method is shown by tracking experiments using a 6-DoF robot manipulator and a 3-DoF binocular vision system. 相似文献
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一类基于信息融合的粒子滤波跟踪算法 总被引:2,自引:3,他引:2
本文提出了一种基于图像多特征信息融合的粒子滤波跟踪算法.该算法利用颜色柱状图描述运动目标颜色分布信息,帧间差的梯度图像描述目标运动信息,并在柱状图框架下给出了运动目标颜色和运动似然模型,保证了颜色和运动似然模型在尺度上的统一.由于图像多特征提供了运动目标多方面的测量信息,从而提高了算法的可靠性.试验表明该算法在使用相同粒子数目的情况下较采用单一颜色特征的粒子滤波跟踪算法效果好. 相似文献
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目的 为了提高直角坐标搬运机器人的定位精度,保证机器人能够按照预定路径运动。方法 介绍直角坐标机器人工作原理,并基于模糊控制理论,提出一种基于模糊PID的直角坐标机器人轨迹跟踪控制算法,并将其应用于机器人运动轨迹跟踪控制中。结果 仿真和实验结果表明,基于模糊PID的机器人控制器能够保证机器人沿预定路径运动,机器人轨迹跟踪误差能够很快收敛于0附近,该轨迹跟踪方法具有较好的抗干扰性和鲁棒性。结论 所提方法能够明显提高直角坐标机器人的路径跟踪能力,对于提升机器人运动精度具有参考价值。 相似文献
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《国际设备工程与管理》2017,(4)
Visual information acquisition is an important component of the AGV robot. The system adopts STM32F4 embedded application of the ARM Cortex-M4 kernel as the main control module,using shift algorithm to finish on a specific color piece of target tracking. For multi-sensor fusion of three methods,quaternion method is used to correct the attitude,the stability of AGV robot visual information acquisition and image clarity are improved. 相似文献
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Automatic target tracking in FLIR image sequences using intensity variation function and template modeling 总被引:3,自引:0,他引:3
A novel automatic target tracking (ATT) algorithm for tracking targets in forward-looking infrared (FLIR) image sequences is proposed in this paper. The proposed algorithm efficiently utilizes the target intensity feature, surrounding background, and shape information for tracking purposes. This algorithm involves the selection of a suitable subframe and a target window based on the intensity and shape of the known reference target. The subframe size is determined from the region of interest and is constrained by target size, target motion, and camera movement. Then, an intensity variation function (IVF) is developed to model the target intensity profile. The IVF model generates the maximum peak value where the reference target intensity variation is similar to the candidate target intensity variation. In the proposed algorithm, a control module has been incorporated to evaluate IVF results and to detect a false alarm (missed target). Upon detecting a false alarm, the controller triggers another algorithm, called template model (TM), which is based on the shape knowledge of the reference target. By evaluating the outputs from the IVF and TM techniques, the tracker determines the real coordinates of one or more targets. The proposed technique also alleviates the detrimental effects of camera motion, by appropriately adjusting the subframe size. Experimental results using real-life long-wave and medium-wave infrared image sequences are shown to validate the robustness of the proposed technique. 相似文献
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